面向AUV水下回收的仿花瓣机械爪设计与水池试验  

Design and Tank Tests of a Petal-Inspired Robot Hand for AUV Underwater Recovery

作　　者：刘玉红[1] 张大卫[1] 苑满星 边德勇 郑竹玉 Liu Yuhong;Zhang Dawei;Yuan Manxing;Bian Deyong;Zheng Zhuyu(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300350,China)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300350

出　　处：《天津大学学报(自然科学与工程技术版)》2025年第5期462-468,共7页Journal of Tianjin University:Science and Technology

基　　金：国家自然科学基金资助项目(52375024);山东省重点研发计划资助项目(2021CXGC010708).

摘　　要：随着海洋开发与利用区域不断向深、远海延伸,自主式水下航行器(AUVs)长期水下作业需求也愈发紧迫,因此,开展隐蔽、快速、安全的AUV水下回收技术研究具有重要的意义.针对AUV水下移动对接回收需求,同时基于现有水下移动对接回收装置末端执行机构的特点,受牵牛花瓣结构形状及开合运动规律启发,并结合空间折展机构,提出并设计了一款新型机械手式AUV水下回收装置末端执行机构——仿花瓣机械爪.仿花瓣机械爪主瓣可实现主动张合,带动可折展副瓣收拢与张开,结合主瓣上的被动柔性指可实现对AUV的牢固抓取.通过对仿花瓣机械爪的运动学分析获得了其运动规律及运动参数,机械爪主、副瓣面展开角均随电推杆行程的增加而减小,其变化范围分别为[0°,32°]和[0°,23.8°),完全展开后,花瓣最大开口尺寸为657 mm.通过水池试验验证了仿花瓣机械爪的预期运动及抓取效果;同时还探讨了机械爪偏心距离、机械爪开角及闭合速度对回收效果的影响.结果表明:偏心距仅对回收时间有较大影响,偏心距越大回收时间变长;而机械爪开角及闭合速度则主要影响最大碰撞力与回收时间,且机械爪闭合速度过快不利于成功回收.With the continuous expansion of marine development and utilization into deeper and more open seas,the demand for long-term underwater operations of autonomous underwater vehicles(AUVs)has become more pressing.Therefore,the development of fast and safe underwater recovery technologies for AUVs is of critical importance.To address the requirements for AUV underwater mobile docking and recovery,this study examines the characteristics of existing underwater docking and recovery devices and proposes a robotic end actuator for AUV recovery.Inspired by the folding mechanism of petals,the design features a petal-inspired robot hand for efficient underwater recovery.The opening and closing motion of the robot hand is inspired by the shape and movement of the morning glory flower.The primary lobes of the petal-inspired robot hand actively rotate around their root joints,driving the opening and closing of the foldable secondary lobes.The AUV to be recovered is securely grasped by the passive flexible fingers on the primary lobes,each consisting of two fin strips.The kinematics analysis provides the motion laws and parameters of the robot hand.The opening angles of the primary and secondary lobes decrease as the stroke of the electric push rod increases,with ranges of[0°,32°]and[0°,23.8°),respectively.In the fully unfolded state,the maximum distance between the sides of the pyramid formed by the lobes reaches 657 mm.The expected motion and grasping performance of the robot hand are validated through tank tests.In addition,the influence of key parameters on the recovery performance are analyzed,including the eccentric distance between the longitudinal axes of the AUV and the robot hand,as well as the opening angle and closing speed of the robot hand.The test results indicate that the eccentric distance mainly affects the recovery time,with greater distances resulting in longer recovery time.The opening angle and closing speed mainly impact the maximum impact force and recovery time,with excessively high closing speeds pr

关 键 词：水下移动对接回收 自主式水下航行器(AUV) 仿花瓣机械爪 柔性指 运动学分析 

分 类 号：TH113.2[机械工程—机械设计及理论]